Industrial robots are multi-joint mechanical arms or multi-degree-of-freedom machines widely used in the industrial field, possessing a certain degree of automation, capable of relying on their own power sources and control capabilities to achieve various industrial processing and manufacturing functions.Industrial robots consist of three main parts and six subsystems, which can be divided into mechanical structure systems, drive systems, perception systems, robot-environment interaction systems, human-robot interaction systems, and control systems.1. Mechanical Structure SystemFrom the perspective of mechanical structure, industrial robots are generally divided into serial robots and parallel robots. The characteristic of serial robots is that the movement of one axis will change the coordinate origin of another axis, while the movement of one axis in parallel robots does not change the coordinate origin of another axis. Early industrial robots all adopted serial mechanisms. Parallel mechanisms are defined as a closed-loop mechanism where a moving platform and a fixed platform are connected by at least two independent motion chains, having two or more degrees of freedom and driven in parallel.2. Drive SystemThe drive system is the device that provides power to the mechanical structure system. Depending on the power source, the transmission methods of the drive system are divided into four types: hydraulic, pneumatic, electrical, and mechanical. Early industrial robots used hydraulic drive. Due to issues such as leakage, noise, and low-speed instability in hydraulic systems, and the power units being bulky and expensive, currently, hydraulic-driven industrial robots are only used in large heavy-duty robots, parallel processing robots, and some special applications.3. Perception SystemThe robot perception system transforms various internal state information and environmental information into data and information that can be understood and applied by the robot itself or between robots. Besides needing to perceive mechanical quantities related to its working state, such as displacement, speed, and force, visual perception technology is an important aspect of industrial robot perception. The visual servo system uses visual information as feedback signals to control and adjust the robot’s position and posture. The machine vision system has also been widely used in quality inspection, workpiece recognition, food sorting, and packaging.The perception system consists of internal sensor modules and external sensor modules, and the use of intelligent sensors improves the robot’s mobility, adaptability, and intelligence level.4. Robot-Environment Interaction SystemThe robot-environment interaction system is the system that enables the robot to connect and coordinate with external devices in the environment. The integration of robots with external devices forms a functional unit, such as processing and manufacturing units, welding units, assembly units, etc. It can also be a combination of multiple robots to execute complex tasks as a functional unit.5. Human-Robot Interaction SystemThe human-robot interaction system is the device that enables communication between humans and robots and participates in robot control. For example: standard terminals for computers, command consoles, information display boards, hazard signal alarms, etc.6. Control SystemThe task of the control system is to direct the robot’s actuators to complete specified movements and functions based on the robot’s operational instructions and signals fed back from sensors. If the robot does not possess information feedback characteristics, it is an open-loop control system; if it has information feedback characteristics, it is a closed-loop control system. Based on control principles, it can be divided into program control systems, adaptive control systems, and artificial intelligence control systems. Based on the form of motion control, it can be divided into point control and continuous trajectory control.(Source: This text is reproduced from OFWEEK. If there are any inappropriate parts in the text, please feel free to contact us, and we will make timely modifications.)Friendly Reminder: To find more optical knowledge, you can click on the “Information Zone” in the public account menu and select “Learn Theory”. 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